Stanford TidyBot Description (MJCF)
Important
Requires MuJoCo 3.1.0 or later.
Overview
This package contains a simplified robot description (MJCF) of the Stanford TidyBot developed by Jimmy Wu and collaborators from the Interactive Perception and Robot Learning Lab at Stanford University.
MJCF Model
- The mobile base MJCF was created from a CAD model of the base.
- The Kinova Gen3 MJCF is taken from Menagerie. See kinova_gen3.
- The Robotiq 2F-85 MJCF is taken from Menagerie. See robotiq_2f85.
License
The TidyBot base is released under an MIT License. The Kinova Gen3 and Robotiq 2F-85 MJCFs retain their original licenses. For more information, see the LICENSE file.
Publications
If you use this work in an academic context, please cite the following publication:
@article{wu2023tidybot,
title = {TidyBot: Personalized Robot Assistance with Large Language Models},
author = {Wu, Jimmy and Antonova, Rika and Kan, Adam and Lepert, Marion and Zeng, Andy and Song, Shuran and Bohg, Jeannette and Rusinkiewicz, Szymon and Funkhouser, Thomas},
journal = {Autonomous Robots},
year = {2023}
}